CN111103829B

CN111103829B - Motor control device and method

Info

Publication number: CN111103829B
Application number: CN201911280537.7A
Authority: CN
Inventors: 汪泳江; 高欣; 罗敏; 丹尼斯.西尼斯基; 陈凌之
Original assignee: Xuanzhi Electronic Technology Shanghai Co ltd
Current assignee: Xuanzhi Electronic Technology Shanghai Co ltd
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2024-05-17
Anticipated expiration: 2039-12-11
Also published as: CN111103829A

Abstract

Embodiments of the present invention provide a motor control apparatus and method. The motor control device includes: a controller unit and a power device unit. The controller unit includes a controller and an encoder. The power device unit includes a decoder and a power device. The controller in the controller unit is connected with the encoder through six wires, and the decoder in the power device unit is connected with the power device through six wires. In the system packaging design, a controller chip is made from a controller and an encoder, namely a controller unit, a power device chip is made from a decoder and a power device, namely a power device unit, and the controller chip is connected with the power device chip through less than six wires. The motor control device converts signals through the encoder and the decoder, reduces wiring of a controller chip and a power device chip in system packaging design in the prior art, thereby reducing the difficulty in system level packaging design and reducing production cost.

Description

Motor control device and method

Technical Field

Embodiments of the present invention relate to the field of motor control, and more particularly, to a motor control apparatus and method.

Background

This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.

Currently, in modern motor control, a controller unit generates a complex Pulse Width Modulation (PWM) modulation wave to control a driving power device unit, thereby achieving the purpose of controlling a motor. However, if the existing motor control device controls a single motor, six wires are required from the controller to the power device; twelve wires are needed if the dual motors are controlled; similarly, six wires are added for each motor. This increases design difficulty and cost for the ultra-small design, particularly for the system-on-package SiP (System In Package) design.

Therefore, in order to solve the problems of the existing motor control device, such as the difficulty in designing the system in package SiP (System In Package) and the high production cost, a new motor control device needs to be designed.

Disclosure of Invention

Because the existing motor control device has the problems of large design and difficulty, high production cost and the like in the system-in-package design. There is therefore a great need for an improved motor control device that solves the above mentioned technical problems.

In this context, embodiments of the present invention desirably provide a motor control apparatus and method.

In a first aspect of the embodiments of the present invention, there is provided a motor control apparatus including:

a controller unit for controlling a motor, comprising:

a controller for providing a space vector for controlling the motor;

an encoder for encoding a spatial vector for the control motor;

a power device unit for driving a motor, comprising:

a decoder decoding the signal encoded by the encoder into a space vector for controlling the motor;

and a power device connected to the windings of the motor, respectively, and connected to the decoder, and receiving the decoded space vector to control voltages applied to the windings of the motor.

In one embodiment of the present invention, the controller unit and the power device unit are respectively connected to respective reset signal terminals and reset by a reset signal.

In another embodiment of the present invention, the controller unit and the power device unit operate in a predetermined mode after being reset.

In yet another embodiment of the present invention, at least one signal line is connected between the controller unit and the power device unit for transmitting a signal of the encoder after encoding the spatial vector of the control motor.

In a further embodiment of the invention, the controller unit and the power device unit are connected by two signal lines for transmitting the state transition signal and the rotation direction switching signal, respectively.

In a further embodiment of the invention, two signal lines between the controller unit and the power device unit may also be used for transmitting status encoded signals.

In a further embodiment of the invention, a signal line is connected between the controller unit and the power device unit for transmitting the status signal.

In yet another embodiment of the present invention, the encoder includes:

A first input unit for receiving an input of a spatial vector of the control motor;

The first displacement registering unit registers the space vector of the control motor;

the first storage unit is used for storing preset space vector changes and corresponding coding information;

The encoding unit is used for searching in the first storage unit according to the space vector of the control motor received by the first input unit and the space vector of the control motor registered in the first displacement register unit so as to generate encoding;

and a first output unit for generating an output signal based on the encoding of the encoding unit.

In yet another embodiment of the present invention, the encoding unit further includes:

The reading unit is used for sequentially reading the space vector of the control motor received by the first input unit and the space vector of the control motor registered in the first displacement registering unit;

The searching unit is used for searching according to the reading result of the reading unit and the content stored in the first storage unit, and generating codes according to the searching result.

In yet another embodiment of the present invention, the decoder includes:

A second input unit for receiving an input of the encoded signal output by the encoder;

a second displacement registering unit for registering the space vector of the control motor;

The second storage unit is used for storing decoding information corresponding to the same preset space vector change in the first storage unit;

A decoding unit for generating decoding according to the identified coded signal of the second input unit, the space vector of the second shift register unit and the result of searching in the second storage unit;

And the second output unit is used for outputting the space vector of the control motor according to the decoding result of the decoding unit.

In yet another embodiment of the present invention, the first and second shift registering units register the spatial vectors of the plurality of control motors sequentially inputted in a serial-input, first-in first-out order.

In still another embodiment of the present invention, the preset spatial vector changing sequences for controlling the clockwise rotation and the counterclockwise rotation of the motor stored in the first storage unit, respectively;

The second storage unit stores the same preset sequence of spatial vector changes for controlling the clockwise rotation and the counterclockwise rotation of the motor, respectively, as in the first storage unit.

In yet another embodiment of the present invention, the state transition signal is a pulse signal, and the state transition signal generates a pulse every time the first input unit in the encoder receives a space vector of the control motor;

Each time the second input unit in the decoder receives a pulse of the state transition signal, the space vector of the control motor transits to the next state according to the preset or following previous sequence, wherein the state transition occurs at the rising edge or the falling edge of the state transition signal.

In still another embodiment of the present invention, the rotation direction switching signal is a pulse signal, and the in-encoder lookup unit generates a pulse signal whenever it is determined that there is a change in the rotation direction of the space vector of the control motor;

the sequence of the change in the movement of the spatial vector of the control motor is switched once between the sequence of the change in the spatial vector of the clockwise and counterclockwise rotations of the motor for each pulse of the rotation direction signal received by the second input unit in the decoder.

In still another embodiment of the present invention, when the sequence of change of the movement of the space vector of the control motor is switched between the sequence of change of the space vector of the clockwise rotation and the counterclockwise rotation of the motor within the decoder, the decoder outputs the space vector of the next state after the switching after receiving the pulse of the state transition signal.

In yet another embodiment of the present invention, the motor control device is connected to three windings of the three-phase motor through six switches in the power device, and the space vector of the control motor includes at least 8 states:

voltage state, V1 (100), V2 (110), V3 (010), V4 (011), V5 (001), V6 (101);

An unpressurized state, vnull0 (000), vnull1 (111);

When the pressureless state is Vnull (111), the sequence of the spatial vector changes of the clockwise rotation and the anticlockwise rotation of the control motor can be:

The sequence of spatial vector changes that control the clockwise rotation of the motor,

Vnull- > V6- > V5- > Vnull- > V4- > V3- > Vnull- > V2- > V1- > Vnull1 …, and the steps are repeated in a circulating way;

the sequence of spatial vector changes that control the motor to rotate counter-clockwise,

Vnull1- > V6- > V1- > Vnull- > V2- > V3- > Vnull- > V4- > V5- > Vnull 1.1 …, and so forth in a cyclic manner;

when the pressureless state is Vnull (000), the sequence of the spatial vector changes of the clockwise rotation and the counterclockwise rotation of the control motor can be as follows:

Vnull0- > V5- > V4- > Vnull- > V3- > V2- > Vnull- > V1- > V6- > Vnull0 …, and so forth in a cyclic manner;

Vnull0- > V5- > V6- > Vnull- > V1- > V2- > Vnull- > V3- > V4- > Vnull0 …, and so forth.

In still another embodiment of the present invention, the preset pattern may be that the controller unit and the power device unit start from Vnull a1 and the next state moving in a clockwise or counterclockwise order according to the space vector of the control motor is V6, V4 or V2.

In still another embodiment of the present invention, the preset pattern may be that the controller unit and the power device unit start from Vnull, and the next state that moves in a clockwise or counterclockwise order according to the space vector of the control motor is V1, V3, or V5.

In yet another embodiment of the present invention, the first shift register in the encoder registers a space vector of the control motor in successive plural bits, and the search unit in the encoding unit performs a search once every time the reading unit in the encoding unit reads out one bit of the first shift register.

In yet another embodiment of the present invention, the search rule of the search unit within the coding unit in the encoder includes:

searching the space vector of the control motor registered in the first displacement registering unit read by the reading unit;

According to the preset sequence of the space vector change of the clockwise rotation and the anticlockwise rotation of the control motor in the first storage unit, judging whether the space vector of the state after the encoder is reset or the space vector of the control motor registered before the first displacement registering unit is updated, and the sequence of the change of the space vector of the control motor registered in the first displacement registering unit and the space vector of the control motor received by the first input unit exists in the sequence of the space vector change of the clockwise rotation or the anticlockwise rotation of the control motor;

Judging whether the rotation direction of the space vector at the moment is the same as the rotation direction of the space vector searched last time or the preset rotation direction;

if the space vectors are the same, the condition that the rotation direction of the space vectors of the control motor is not changed is indicated, and the first output unit does not output pulses in the rotation direction switching signal;

if the spatial vector of the control motor is different, the first output unit outputs a pulse signal in the rotation direction switching signal to indicate the direction switching.

In still another embodiment of the present invention, the preset spatial vector change and the corresponding encoding information stored in the first storage unit are a walkable path of the spatial vector and a corresponding status code;

the second storage unit stores the same preset space vector change and corresponding code information as the walkable path of the space vector and corresponding state code in the first storage unit.

In yet another embodiment of the present invention, a state encoded signal is generated by the encoder, wherein an output 0 signal is low level and an output 1 signal is high level;

each time the second input unit in the decoder receives the state encoded signal, the decoder decodes the state encoded signal into a spatial vector of the control motor.

In still another embodiment of the present invention, the sequence of the spatial vector changes of the clockwise rotation or the counterclockwise rotation of the preset control motor stored in the first storage unit respectively and the corresponding preset number of bits;

The second storage unit stores the same preset sequence of the spatial vector change of the clockwise rotation or the anticlockwise rotation of the control motor and the corresponding preset digits in the first storage unit respectively.

In yet another embodiment of the present invention, the status signal is a pulse signal, wherein the search unit searches for one pulse signal output by the encoder at a time;

Each time the second input unit in the decoder receives a pulse signal, the decoder moves the space vector of the control motor to the next state.

In still another embodiment of the present invention, the preset space vectors of the control motor and the corresponding preset pulse numbers stored in the first storage unit respectively;

The second storage unit stores the same preset space vector of the control motor and the corresponding preset pulse number as the first storage unit.

In yet another embodiment of the present invention, the status signal is a pulse signal, wherein a space vector encoder for controlling the motor according to the received signals from the encoder outputs a corresponding number of pulses;

The decoder outputs the corresponding space vector of the control motor each time the decoder receives the number of pulse signals.

The searching unit searches in the first storage unit and judges whether the number of bits of the space vector of the control motor received by the first input unit in the first storage unit is the next bit of the number of bits corresponding to the space vector of the control motor registered by the first displacement registering unit;

outputting a pulse if the position is the next position of the bit number corresponding to the space vector of the control motor registered by the first displacement register unit;

If the space vector is not the next bit of the bit number corresponding to the space vector of the control motor registered by the first displacement register unit, outputting a high-speed pulse, wherein the first displacement register unit registers and updates the space vector of the control motor stored in the first storage unit to the next bit of the space vector of the control motor, continuing the steps until the space vector of the control motor received by the first input unit is the next bit of the bit number corresponding to the space vector of the control motor registered by the first displacement register unit, and outputting a high-speed pulse to finish searching.

In a second aspect of the embodiment of the present invention, there is provided a motor control method including:

providing a space vector for controlling the motor;

Encoding a spatial vector for the control motor;

decoding the encoded signals into spatial vectors for controlling the motor;

the decoded space vector is received to control the voltages applied to the respective windings of the motor.

In one embodiment of the invention, a reset operation is performed prior to the step of providing a space vector for controlling the motor.

In another embodiment of the present invention, the reset operation is performed in a predetermined mode after the reset operation.

In a further embodiment of the invention, at least one signal line is connected for transmitting the space vector coded signals of the control motor.

In a further embodiment of the invention, two signal lines are connected for transmitting the state transition signal and the rotation direction switching signal, respectively.

In yet another embodiment of the invention, one or both signal lines may also be used to transmit status encoded signals.

In a further embodiment of the invention a signal line connection is used for transmitting the status signal.

In yet another embodiment of the present invention, the step of encoding a spatial vector for the control motor includes:

Receiving an input of a space vector of the control motor;

registering a space vector of the control motor;

Storing preset space vector changes and corresponding coding information;

according to the received space vector of the control motor and the registered space vector of the control motor, searching to generate codes;

An output signal is generated based on the encoding.

In still another embodiment of the present invention, the motor control method further includes:

sequentially reading the received space vector of the control motor and the registered space vector of the control motor;

Searching according to the reading result and the stored content, and generating codes according to the searching result.

In yet another embodiment of the present invention, the decoding the encoded signal into a spatial vector for controlling the motor includes:

Receiving an input of an encoded signal;

registering a space vector of the control motor;

Storing preset decoding information corresponding to space vector change;

Generating a decoding according to the identified encoded signals and the registered space vectors and the result of searching in the stored decoding information;

And outputting the space vector of the control motor according to the decoding result.

In yet another embodiment of the present invention, the spatial vectors of a plurality of said control motors are registered in succession following a serial input, first-in first-out order.

In yet another embodiment of the present invention, a stored preset sequence of spatial vector changes that control clockwise and counterclockwise rotation of the motor.

In yet another embodiment of the present invention, the state transition signal is a pulse signal, and the state transition signal generates a pulse every time a space vector of the control motor is received;

Each time a pulse of the state transition signal is received, the space vector of the control motor transitions to the next state in a preset or following order, wherein the state transition occurs at the rising or falling edge of the state transition signal.

In still another embodiment of the present invention, the rotation direction switching signal is a pulse signal, and the rotation direction switching signal generates a pulse signal whenever it is determined that there is a change in the rotation direction of the space vector of the control motor;

The sequence of the change in the movement of the spatial vector of the control motor is switched once between the sequence of the change in the spatial vector of the clockwise and counterclockwise rotation of the motor for each pulse of the rotation direction signal received.

In still another embodiment of the present invention, when the sequence of change of the movement of the space vector of the control motor is switched between the sequence of change of the space vector of the clockwise rotation and the counterclockwise rotation of the motor, the space vector of the next state after the switching is output after the pulse of the state transition signal is received.

voltage state, V1 (100), V2 (110), V3 (010), V4 (011), V5 (001), V6 (101);

An unpressurized state, vnull0 (000), vnull1 (111);

In still another embodiment of the present invention, the preset pattern may be that, starting from Vnull a1, the next state moving in a clockwise or counterclockwise order according to the space vector of the control motor is V6, V4 or V2.

In still another embodiment of the present invention, the preset pattern may be that, starting from Vnull a 0, the next state moving in a clockwise or counterclockwise order according to the space vector of the control motor is V1, V3 or V5.

In a further embodiment of the invention, the space vector of the control motor is registered in a plurality of successive bits, and the search unit in the encoding unit performs a search once every time the first shift register is read out to move one bit.

In yet another embodiment of the present invention, the search rule of the search unit includes:

searching the read registered space vector of the control motor;

according to the stored sequence of the change of the space vector of the clockwise rotation and the anticlockwise rotation of the preset control motor, judging whether the space vector of the state after reset or the space vector of the control motor registered before update, the registered change sequence of the space vector of the control motor and the received change sequence of the space vector of the control motor exist in the sequence of the change of the space vector of the clockwise rotation or the anticlockwise rotation of the control motor;

In yet another embodiment of the present invention, the stored preset spatial vector changes and corresponding encoding information are the walkable path of the spatial vector and the corresponding state code.

And decoding the state coded signals into the space vector of the control motor according to each time the state coded signals are received.

In yet another embodiment of the present invention, the stored preset sequence of spatial vector changes that control the clockwise or counterclockwise rotation of the motor and the corresponding preset number of bits.

In yet another embodiment of the present invention, the status signal is a pulse signal, wherein the search outputs one pulse signal at a time;

and each time a pulse signal is received, the space vector of the control motor is moved to the next state.

In a further embodiment of the invention, the stored preset spatial vector of the control motor and the corresponding preset number of pulses.

In yet another embodiment of the present invention, the status signal is a pulse signal, wherein a corresponding number of pulses are output according to the received space vector encoder controlling the motor;

and outputting the corresponding space vector of the control motor each time the number of pulse signals is received.

In yet another embodiment of the present invention, the lookup rule includes:

Searching in the sequence of storing the change of the space vector of the preset control motor rotating clockwise or anticlockwise and the corresponding preset digit, and judging whether the received space vector of the control motor is the next digit of the digit corresponding to the registered space vector of the control motor in the preset digit;

if the registered space vector of the control motor corresponds to the next bit of the bit number, outputting a pulse;

if the space vector is not the next bit of the bit number corresponding to the space vector of the control motor, outputting a high-speed pulse, registering and updating the space vector into the stored sequence of the change of the space vector of the clockwise rotation or the anticlockwise rotation of the preset control motor and the space vector of the control motor corresponding to the next bit of the preset bit number, continuing the steps until the received space vector of the control motor is the next bit of the change of the space vector of the clockwise rotation or the anticlockwise rotation of the preset control motor and the space vector corresponding to the preset bit number is the registered space vector of the control motor, and outputting a high-speed pulse to finish searching.

According to the technical scheme provided by the embodiment of the invention, a group of encoders and decoders are added on the existing device. For the case of controlling a single motor, the motor control device of the present invention includes: a controller unit and a power device unit. The controller unit includes a controller and an encoder. The power device unit includes a decoder and a power device. The controller in the controller unit is connected with the encoder through six wires, and the controller and the encoder, namely the controller unit, are made into a controller chip. The decoder in the power device unit is connected with the power device through six wires, and the decoder and the power device, namely the power device unit, are made into a power device chip. The controller chip is connected with the power device chip through less than six wires. The motor control device converts signals through the encoder and the decoder, reduces wiring of a controller chip and a power device chip in the prior art, thereby reducing the difficulty of system-level packaging design and reducing the production cost.

Drawings

The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

Fig. 1 schematically illustrates a motor control device of the prior art;

FIG. 2 schematically illustrates a space vector state diagram;

fig. 3 schematically shows a Vnull =000 space vector state diagram with dead-band control added;

fig. 4 schematically shows a Vnull =111 space vector state diagram with dead-band control added;

fig. 5 schematically shows a schematic structural view of a motor control device according to an embodiment of the present invention;

Fig. 6 schematically shows a schematic structural diagram of an encoder apparatus according to an embodiment of the present invention;

Fig. 7 schematically shows a schematic structural diagram of a decoder device according to an embodiment of the present invention;

FIG. 8 schematically illustrates waveforms of a status signal output by an encoder in accordance with an embodiment of the present invention;

Fig. 9 schematically shows a flow chart of a motor control method according to an embodiment of the invention;

Fig. 10 schematically shows a flow chart of encoded signals in a motor control method according to an embodiment of the invention;

Fig. 11 schematically illustrates a flow chart of decoding signals in a motor control method according to an embodiment of the invention;

in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

Detailed Description

The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are presented merely to enable those skilled in the art to better understand and practice the invention and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Those skilled in the art will appreciate that embodiments of the invention may be implemented as a system, apparatus, device, method, or computer program product. Accordingly, the present disclosure may be embodied in the following forms, namely: complete hardware, complete software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.

The principles of the background of the invention are explained in detail below.

Fig. 1 shows a motor control device in the prior art, and a motor control device 101 includes: a controller 102 and a power device 103, wherein the controller 102 is used for outputting a control signal for controlling the motor 104, and the power device 103 comprises at least three pairs of power switches and is used for performing switching operation under the control of the control signal for controlling the motor 104. As seen from fig. 1, in the case of a system-in-package for controlling a motor 104, the controller 102 and the power device 103 are respectively formed into chips, and are connected through six wires, each wire transmitting a control signal; and then the controller 102, the wiring and the power device 103 are integrally packaged into a system level package. Six wires are required for a single motor from the controller 102 to the power device 103; twelve wires are needed for the double motor; six wires are added for each motor, and so on.

When the motor 104 is connected, six wires between the controller 102 and the power device 103 are used for transmitting signals for controlling the motor 104 by the controller 102. Can be defined as: when the transmitted signal causes the corresponding switch in the power device to which the wiring is connected to close, it is denoted by "1"; when the transmitted signal causes the corresponding switch in the power device to which the wiring is connected to open, it is denoted by "0", and the coincidence of the indications is of course not limited to "0" and "1" which can be defined artificially. Six wires can be defined as: u, U, V, V, W, W are shown in FIG. 1. U is the high side of the H-shaped half bridge, and U is the low side of the H-shaped half bridge; v is the high side of the H-shaped half bridge, and V is the low side of the H-shaped half bridge; w is the high side of the H-shaped half bridge, and W is the low side of the H-shaped half bridge; u is identical to U, V is identical to V, and W is identical to W and is called the complementary term. If the signals transmitted by the six wires are arranged into a logic truth table, sixty four code values can be generated, as shown in table one.

List one

The complementary terms are that the wiring represented by U and U, V and V, and W cannot simultaneously close the switches in the corresponding connected power devices, i.e. the transmission signal values of the power devices cannot be 1 at the same time. In other words, U is equal to U, V is equal to V, W is equal to W, and the simultaneous transmission signal is 1, which is controllable by software in the prior art. It is known that the position of the bold frame marker in table one is not present, which changes table one into a reduced logic truth table two.

Watch II

Modern Pulse Width Modulation (PWM) techniques modulate waveforms according to a space vector method. It has eight vector components, called main phasors. The eight vectors represent eight states, respectively, including: voltage states, V1 (100), V2 (110), V3 (010), V4 (011), V5 (001), V6 (101) and no voltage states, vnull (000), vnull1 (111) constitute the master logic truth table, as in table three. According to the theory of the space vector method, all control signals transmitted by six wires in the second table can be generated by the conversion of the eight vectors. The last sequence number is the sequence number of the corresponding set of control signals selected from the sequence numbers in table two.

Watch III

Vnull is in an unpressurized state, and may be in Vnull 0=000 state or Vnull 1=111 state. The specific space vector theory is not described in detail in this invention, please refer to the related books. Table three may be represented in the form of a space vector, as shown in figure two. However, in practical application, dead zone control is required to be added for vector-to-vector conversion, so that the occurrence of the situations of short circuit and the like of a device caused by switching a switch in a power device to a closed state according to a control signal received by a wiring during vector conversion is avoided. Dead time control is accomplished by the power device chip, and the time parameter may be a serial interface or other communication interface. For example, in the conversion of v1=100 to v2=110 in fig. 2, it is necessary to insert the dead zone vector v=1t0. Where t represents a tri-state, i.e. neither the high nor the low side of the H-bridge is driven.

Fig. 3 is a state diagram of the space vector with dead zone control added when Vnull =000, and the sequence of the changes of the space vector is shown. That is, the change of the space vector controls the rotating direction of the motor, and controls the sequence of the change of the space vector for clockwise rotation of the motor:

Sequence of spatial vector changes controlling the motor to rotate counter-clockwise:

Fig. 4 is a state diagram of the space vector with dead zone control added when Vnull =111, and the sequence of the changes of the space vector is shown. Sequence of spatial vector changes controlling clockwise rotation of motor:

Vnull.sup.1- > V.sup.6- > V.sup.1- > Vnull- > V.sup.2- > V.sup.3- > Vnull- > V.sup.4- > V.sup.5- > Vnull.sup.1 …, and so on.

The space vector state diagram may vary from application to application. For example Vnull 1=111 in some application scenarios and Vnull 0=000 in other application scenarios.

The inventor finds that six wires are needed to be connected between the controller unit and the power device unit to control the motor in the current motor control device, and for the ultra-small design, the design difficulty and the production cost are increased particularly in the system-in-package design.

In order to overcome the technical problems, the invention provides a motor control device and a motor control method. The motor control device of the invention comprises: a controller unit and a power device unit. The controller unit includes a controller and an encoder. The power device unit includes a decoder and a power device. The controller in the controller unit is connected with the encoder through six wires, and the controller and the encoder, namely the controller unit, are made into a controller chip. The decoder in the power device unit is connected with the power device through six wires, and the decoder and the power device, namely the power device unit, are made into a power device chip. The controller chip is connected with the power device chip through less than six wires. The encoder receives the space vector code of the control motor provided by the controller and is a state transition signal and a rotation direction switching signal, the space vector code can be transmitted to the decoder of the power device unit through two signal wires, the decoder searches the space vector of the next control motor by identifying the states of the state transition signal and the rotation direction switching signal and outputs the space vector code to the connected motor, and the motor performs corresponding actions according to the space vector of the control motor.

The motor control device converts signals through the encoder and the decoder, and reduces wiring of the controller unit and the power device unit, so that the difficulty in system-level packaging design is reduced, and the production cost is reduced. It will be appreciated that the principles of the methods, encoders, media and computing devices of the present invention are similar to those of the system and will not be described in detail herein.

In this context, the motor control device may be connected to multiple motors, and it should be understood that in the present invention, the case where the motor control device is connected to a single motor is taken as an example; six wires of the control unit and the power device unit in the motor control device can be reduced to one, two, three, four and/or five wires, and it should be noted that the connection between the control unit and the power device unit in the motor control device in the invention takes two wires as an example. Furthermore, any number of elements in the figures is for illustration and not limitation, and any naming is used for distinction only and not for any limiting sense.

According to an embodiment of the present invention, a motor control apparatus and method are provided.

The principles and spirit of the present invention are explained in detail below with reference to several representative embodiments thereof.

Having introduced the basic principles of the present invention, an apparatus for controlling an electric motor according to an exemplary embodiment of the present invention will be described below with reference to the accompanying drawings in conjunction with the application scenario and prior art. It should be noted that the above application scenario is only shown for the convenience of understanding the spirit and principle of the present invention, and the embodiments of the present invention are not limited in any way. Rather, embodiments of the invention may be applied to any scenario where applicable.

The embodiment of the invention provides a motor control device. The motor control device encodes signals needing six lines between the controller and the power device into signals needing less than six lines through the encoder, and the condition of one line transmission and two lines transmission is preferentially selected. As shown in fig. 5, a motor control device for transmitting signals between a controller unit and a power device unit through two lines, the motor control device 501 includes: a controller unit 502 and a power device unit 503.

A controller unit 502 for controlling the motor. The controller unit 502 includes: a controller 504 and an encoder 505.

A controller 504 for providing a space vector for controlling the motor.

The controller 504 according to the present invention is the same as the controller in the related art, and the controller 504 is typically a single-chip microcomputer MCU, FPGA or other control device. The embodiment of the invention does not limit the type of the controller

An encoder 505 for encoding a spatial vector for controlling the motor.

By way of example, an encoder is a device that compiles, converts, or communicates, transmits, and stores signals or data into a signal form. Encoders can be classified into contact type and non-contact type according to a read-out manner, and can be classified into incremental type and absolute type according to a working principle. Each binary code, when encoded, is given a particular meaning, i.e., it represents a certain signal or object. The encoder 505 of the present invention encodes the spatial vector of the control motor into a signal form for transmission and storage. The embodiment of the invention is not limited to the type and the coding mode of the coder.

A power device unit 503 for driving the motor. The power device unit 503 includes: decoder 506 and power device 507.

A decoder 506 decoding the signal encoded by the encoder into a space vector for controlling the motor;

As an example, decoders are a type of multiple-input multiple-output combinational logic circuit device that can be divided into: variable decoding and display decoding. Decoding is the inverse of encoding, and the process of "translating" the specific meaning of a code state is called decoding, and the circuit implementing the decoding operation is called a decoder. Alternatively, a decoder is a circuit that can translate the state of an input binary code into an output signal to represent its original meaning. The decoder 506 according to the present invention decodes the signal transmitted from the encoder 505 into a spatial vector for controlling the motor. The embodiment of the invention is not limited to the type and decoding mode of the decoder.

And power devices 507 connected to the respective windings of the motor and connected to the decoder, and receiving the decoded space vector to control voltages applied to the respective windings of the motor.

The power device 507 according to the present invention is the same as the power device in the background art, and the power device 507 is usually a MOS transistor, an IGPT or a power switching device thereof. The embodiment of the invention is not limited to the type of the power device.

As shown in fig. 6, an encoder apparatus of an embodiment of the present invention is provided. The encoder 505 includes: the first input unit 601, the first shift register unit 602, the first storage unit 603, the reading unit 604, and the encoding unit 607, wherein the encoding unit 607 includes the search unit 605 and the first output unit 606. The two wires for the encoder 505 and the decoder 506 to transmit signals are two.

A first input unit 601 for receiving an input of a spatial vector of the control motor.

As an example, the spatial vector of the control motor continuously received by the first input unit 601 may be one or a plurality of continuous spatial vectors.

The first displacement registering unit 602 registers a space vector of the control motor.

As an example, the register rule of the first shift register unit 602 is preset by a person, and space vectors of the multi-bit control motor may be continuously registered, or space vectors of only one-bit control motors may be registered. The embodiment of the invention is not limited to the register rule. The first storage unit 603 is configured to store a preset spatial vector change and corresponding encoding information.

As an example, the content stored in the first storage unit 603 is preset. Taking the space vector of the control motor as an example, the stored content can be the preset sequence of the space vector change for controlling the clockwise rotation and/or the anticlockwise rotation of the motor, and can also be the space vector change and the corresponding coding information are the walkable path of the space vector and the corresponding state coding. The embodiments of the present invention are not limited to the above storage contents.

The coding unit 607 is configured to search in the first storage unit according to the spatial vector of the control motor received by the first input unit and the spatial vector of the control motor registered in the displacement register unit, so as to generate a code.

And a reading unit 604, configured to sequentially read the space vector of the control motor received by the first input unit and the space vector of the control motor registered in the displacement register unit.

The searching unit 605 is configured to search according to the reading result of the reading unit and the content stored in the first storage unit, and generate a code according to the searching result.

As an example, it is possible to find the space vector of the control motor read by the reading unit in the order of the change of the space vector of the control motor rotated clockwise and counterclockwise stored in the first storage unit 603, and to determine whether there is a case of changing the rotation direction of the space vector of the control motor. The method can also be used for searching the corresponding state code of the space vector change condition of the control motor received by the first input unit 601 in the walkable path of the space vector stored in the first storage unit 603 and the corresponding state code.

A first output unit 606 for generating an output signal based on the encoding of the encoding unit.

As an example, in the case where the transmission signal is two wires, a state transition signal for controlling a spatial vector change of the motor and a rotation direction switching signal for controlling a rotation direction change may be output based on the determination result of the search unit 605. And the method can also be used for outputting corresponding state codes of the space vector change condition of the control motor. As an example, the motor control device 501 is connected to the motor 508 through six switches in the power device, and the space vector of the control motor includes at least eight states. For example, table three: voltage state, V1 (100), V2 (110), V3 (010), V4 (011), V5 (001), V6 (101), and no voltage state, vnull0 (000), vnull1 (111). When an application scene with a non-pressure state Vnull1 is manually specified, the change sequence of the specified space vectors is as shown in fig. 4, and the change sequence of the space vectors for controlling the clockwise rotation of the motor is as follows:

Vnull.sup.1- > V.sup.6- > V.sup.1- > Vnull- > V.sup.2- > V.sup.3- > Vnull- > V.sup.4- > V.sup.5- > Vnull.sup.1 …, and so on. The order of the spatial vectors may be predetermined, and other orders may be used without limiting the order exemplified in the present specification; and stores the above-described sequence of controlling the motor space vector change in the first storage unit 603 of the encoder 505.

First, the controller unit 502 and the power device unit 503 are connected to respective reset signal terminals, respectively, and reset by a reset signal. After reset, the controller unit 502 and the power device unit 503 operate in a predetermined mode. The preset pattern is set manually. In the above example, if the agreed mode is that the controller 504 in the controller unit 502 and the decoder 506 in the power device unit 503 start from the space vector Vnull, the space vector of the control motor stored in the first storage unit 603 in the encoder 505 and the second storage unit 702 in the decoder 506 is moved clockwise, and the state of the space vector of the next control motor is specified as V6.

The controller 504 in the controller unit 502 sequentially supplies the space vectors for controlling the motor to the encoder 505, and the first input unit 601 in the encoder 505 receives the space vectors for controlling the motor supplied from the continuous plurality of controllers 504.

The received space vectors are successively registered in the first shift register unit 602. The register rule of the first shift register unit 602 may be to register the space vectors of a plurality of continuous control motors in a first-in first-out order according to serial input, and it should be noted that the number of bits and the rule of the register are manually settable.

The reading unit 604 then sequentially reads the spatial vectors of the control motors registered in the first shift registering unit 602. When the reading unit 604 reads that the spatial vector of the control motor registered in the first shift registering unit 602 is shifted by one bit, the search unit 605 in the encoder 505 performs search once. The reading mode and the number of bits are manually settable.

The searching unit 605 searches the spatial vector of the control motor read by the reading unit 604 in the order of the change of the spatial vector of the control motor rotating clockwise and counterclockwise stored in the first storage unit 603, and judges whether there is a case of changing the rotation direction of the spatial vector of the control motor.

The first output unit 606 outputs a state transition signal controlling the spatial vector change of the motor and a rotation direction switching signal controlling the rotation direction change based on the determination result of the search unit 605. Wherein, the state transition signal is a pulse signal, and each time the first input unit 601 in the encoder 505 receives a space vector for controlling the motor, the state transition signal generates a pulse; the rotation direction switching signal is a pulse signal, and the search unit 605 in the encoder 505 generates a pulse signal whenever it determines that there is a change in the rotation direction of the space vector of the control motor. The state transition signal and the rotation direction switching signal are simultaneously output.

Continuing with the above example to illustrate the encoder encoding process, the spatial vector provided by controller 504 to control the motor is Vnull- > V6- > V5- > Vnull- > V6- > V1- > Vnull- > V2- > V3. The initial state after the encoder 505 is reset is Vnull1, the clockwise sequence is set according to the preset mode, and the next bit is V6.

The first shift register unit 602 registers a spatial vector V6 for the first time, and the first input unit 601 receives a spatial vector V5 for controlling the motor. At this time, the reading unit 604 reads the spatial vector Vnull1 of the state after the encoder 505 is reset, the spatial vector V6 of the control motor registered in the first displacement registering unit, and the change order of the spatial vector V5 of the control motor received by the first input unit is Vnull- > V6- > V5. According to the sequence read by the reading unit 604 and found in the first storage unit 603, the sequence is found to exist in a spatial vector change sequence that controls the motor to rotate clockwise. Therefore, when the rotation direction of the space vector at this time is the same as the rotation direction set in advance, it is explained that the space vector of the control motor does not change the rotation direction, the first output unit 606 outputs the state transition signal into which the space vector V6 of the control motor is encoded, and outputs one pulse, and the rotation direction switching signal does not output a pulse. The register in the first shift register unit 602 is updated to V5.

The first input unit 601 receives a space vector Vnull1 for controlling a motor. At this time, the reading unit 604 reads the spatial vector V6 of the control motor registered before the first shift register unit 602 updates, the spatial vector V5 of the control motor registered in the first shift register unit 602, and the spatial vector Vnull of the control motor received by the first input unit 601 in the changing order of V6- > V5- > Vnull. According to the sequence read by the reading unit 604 and found in the first storage unit 603, the sequence is found to exist in a spatial vector change sequence that controls the motor to rotate clockwise. Therefore, when the rotation direction of the space vector at this time is the same as the rotation direction set in advance, it is explained that the space vector of the control motor does not change the rotation direction, the first output unit 606 outputs the state transition signal into which the space vector V5 of the control motor is encoded, and outputs one pulse, and the rotation direction switching signal does not output a pulse. The register in the first shift register unit 602 is updated to Vnull1.

The first input unit 601 receives a space vector V6 for controlling the motor. At this time, the reading unit 604 reads the spatial vector V5 of the control motor registered before the first shift register unit 602 updates, the spatial vector Vnull1 of the control motor registered in the first shift register unit 602, and the spatial vector V6 of the control motor received by the first input unit 601 in the changing order of V5- > Vnull- > V6. According to the sequence read by the reading unit 604 and found in the first storage unit 603, the sequence is found to exist in a spatial vector change sequence that controls the motor to rotate counterclockwise. Therefore, when the rotation direction of the space vector at this time is different from the preset rotation direction, it is explained that the space vector of the control motor is changed, the first output unit 606 outputs one pulse from the state transition signal encoded by the space vector vnull1 of the control motor, and outputs one pulse from the rotation direction switching signal. The register in the first shift register unit 602 is updated to V6.

The first input unit 601 receives a space vector V1 of the control motor. At this time, the reading unit 604 reads the spatial vector Vnull of the control motor registered before the first shift register unit 602 updates, the spatial vector V6 of the control motor registered in the first shift register unit 602, and the change order of the spatial vector V1 of the control motor received by the first input unit 601 is Vnull- > V6- > V1. According to the sequence read by the reading unit 604 and found in the first storage unit 603, the sequence is found to exist in a spatial vector change sequence that controls the motor to rotate counterclockwise. Therefore, when the rotation direction of the space vector at this time is the same as the rotation direction set in advance, it is explained that the space vector of the control motor does not change the rotation direction, the first output unit 606 outputs the state transition signal into which the space vector V6 of the control motor is encoded, and outputs one pulse, and the rotation direction switching signal does not output a pulse. The register in the first shift register unit 602 is updated to V1. And continues to be encoded into the corresponding state transition signal and rotation direction switching signal in the above manner and output by the first output unit 606.

As shown in fig. 7, a decoder device according to an embodiment of the present invention is provided. The decoder 506 includes: a second input unit 701, a second storage unit 702, a decoding unit 703, a second output unit 704, and a second shift register unit 705.

A second input unit 701 for receiving an input of the encoded signal output by the encoder.

A second shift registering unit for registering a space vector of a decoder for controlling the motor;

The second storage unit 702 is configured to store decoding information corresponding to the same preset spatial vector change in the first storage unit.

And a decoding unit 703 for generating decoding according to the identified coded signal of the second input unit, the space vector of the second shift register unit, and the result of searching in the second storage unit. And the second output unit is used for outputting the space vector of the control motor according to the decoding result of the decoding unit.

As an example, the second input unit 701 of the decoder 506 receives the state transition signal and the rotation direction switching signal output by the encoder 505. The second storage unit 702 stores the same preset sequence of spatial vector changes for controlling the clockwise rotation and counterclockwise rotation of the motor as in the first storage unit 603, respectively. The decoding unit 703 recognizes the state of the state transition signal and the state of the rotation direction switching signal. Finally, the second output unit 704 decodes the spatial vector of the control motor according to the decoding unit 703 and outputs the spatial vector. The spatial vector of the control motor output by the second output unit 704 of the decoder 506 controls the motor 508 by controlling the closed state of the switch in the power device 507.

The second input unit 701 in the decoder 506 controls the space vector of the motor to transition to the next state in a preset or following order every time it receives a pulse of the state transition signal, wherein the state transition occurs on the rising or falling edge of the state transition signal. The sequence of the change in the movement of the spatial vector controlling the motor is switched once between the sequence of the change in the spatial vector of the clockwise and counterclockwise rotation of the motor for each pulse of the rotation direction signal received by the second input unit 701 in the decoder 506. When the sequence of the change of the motion of the space vector of the motor is controlled in the decoder 506, the sequence of the change of the space vector of the clockwise rotation and the anticlockwise rotation of the motor is switched, the decoder outputs the space vector of the next state after the pulse of the state transition signal is received.

In the following description of the decoder decoding process, after the decoder 506 is reset, the decoder 506 will operate in a preset mode, that is, the decoder 506 in the power device unit 503 starts from the space vector Vnull, moves clockwise according to the space vector of the control motor stored in the second storage unit 702 in the decoder 506, and specifies the state of the space vector of the next control motor to be V6. And sets the space vector movement and change of the rotation direction of the trigger control motor when the decoding unit 703 recognizes the rising edge of the state transition signal and the rotation direction switching signal pulse. The second input unit 701 of the decoder 506 receives the state transition signal converted by the first V6 and the rotation direction switching signal output from the first output unit 606 of the encoder 505, and the decoding unit 703 recognizes that the state transition signal at this time has a rising edge of a pulse and the rotation direction switching signal does not have a pulse. According to the preset mode, the clockwise sequence position of the space vector of the control motor in the second storage unit 702 at this time is:

vnull1 < V6 > V5 > Vnull < V4 > V3 > Vnull < V2 > V1 > Vnull. The second output unit 704 correspondingly outputs the space vector V6 of the next control motor of the space vector Vnull1 of the control motor into the power device 507. The power device 507 receives the decoded space vector, and controls the voltages applied to the windings of the motor 508 through a switch, thereby achieving the state of controlling the motor 508.

The second input unit 701 of the decoder 506 receives the state transition signal converted by V5 and the rotation direction switching signal output from the first output unit 606 of the encoder 505, and the decoding unit 703 recognizes that the state transition signal at this time has a rising edge of a pulse and the rotation direction switching signal does not have a pulse. According to the preset mode, the clockwise sequence position of the space vector of the control motor in the second storage unit 702 at this time is:

Vnull1 < V6 > V5 > Vnull < V4 > V3 > Vnull < V2 > V1 > Vnull. The second output unit 704 correspondingly outputs the space vector V5 of the next control motor of the space vector V6 of the control motor into the power device 507.

The second input unit 701 of the decoder 506 receives the state transition signal and the rotation direction switching signal converted by the second Vnull1 output by the first output unit 606 of the encoder 505, and the decoding unit 703 first recognizes that the rotation direction switching signal has a rising edge of a pulse, and switches to a sequence of a counterclockwise space vector change order stored in the second storage unit 702:

Vnull1- > V6- > V1- > Vnull- > V2- > V3- > Vnull- > V4- > V5- > Vnull1 …, and identifies the spatial vector V5 output by the second output unit 704, and finds V5 in the sequence of the counterclockwise spatial vector change order. Then, the decoding unit 703 recognizes the rising edge of the state transition signal, at this time, the space vector of the control motor is switched to the next state space vector Vnull1, and the space vector Vnull is output through the second output unit 704.

The second input unit 701 of the decoder 506 receives the state transition signal converted by V6 and the rotation direction switching signal output from the first output unit 606 of the encoder 505, and the decoding unit 703 recognizes that the state transition signal at this time has a rising edge of a pulse and the rotation direction switching signal does not have a pulse. According to the result identified by the decoding unit 703 that the spatial vector does not need to switch the rotation direction and moves one bit, it can be known that the spatial vector of the control motor at this time follows the counterclockwise sequence after the conventional switching:

Vnull1- > V6- > V1- > Vnull- > V2- > V3- > Vnull- > V4- > V5- > Vnull1- > … to the space vector V6 of the next state. The second output unit 704 searches for and outputs the corresponding spatial vector V6 of the control motor in the second storage unit 702 to the power device 507. And continues to output the space vector of the control motor to the power device 507 by the second output unit 704 in the above decoding manner.

As an example, the encoder 505 in the controller unit 502 and the decoder 506 in the power device unit 503 connected by two signal lines are compiled in various ways, and are not limited to the above. It can also be:

taking fig. 4 as an example, the setting system Vnull selects Vnull1, and the spatial vector of the control motor provided by the controller 504 is:

vnull1 > V6 > V5> Vnull > V6 > V1 > Vnull > V2 > V3. The code information corresponding to the preset spatial vector change stored in the first storage unit 603 is the walkable path of the spatial vector and the corresponding status code. As can be seen in fig. 4, the order of the further space vectors is changed from any one space vector to the next space vector according to the direction indicated by the arrow, and there are at most three alternative paths from each space vector to the next space vector, so that the paths selected from each space vector can be represented by a binary number of one bit, for example, it is possible to define: from Vnull1, three paths V6, V2 and V4 can be selected, each path having a code Vnull- > V6: 01. vnull1- > V2: 10. vnull1- > V4:11; from V6, two paths V5 and V1 can be selected, each path being coded as V6- > V5: 10. v6- > V1:11; from V2, two paths V3 and V1 can be selected, each path being coded as V2- > V3: 11. v2- > V1:01; from V4, two paths V5 and V3 can be selected, each path being coded as V4- > V5: 11. v4- > V3:01; from V3, one path Vnull can be selected, which is coded as V3- > Vnull1:00; from V1, vnull can be selected 1 as a path, which has the code V1- > Vnull1:00; from V5, one path Vnull can be selected, which has the code V5> Vnull1:00. the coding of each path may be defined by man and it is guaranteed that the adjacent two codes output consecutively at the encoder are different. Therefore, in the encoding process, if the current space vector and the next space vector are known, the corresponding two-bit binary code can be searched out from the preset codes and transmitted to the decoder; in the decoding process, if the current space vector is known and the code of the possible next path from the current space vector is read, the next space vector can be obtained. The travelable path is independent of the direction of rotation of the motor. The second storage unit 702 stores decoding information corresponding to the same preset spatial vector change in the first storage unit 603.

After being reset by the reset signal, the spatial vector registered by the first shift register unit 602 is set to be Vnull. After the preset mode is reset, the initial states of the controller unit 502, the power device unit 503, and the motor are Vnull1.

The encoding process is illustrated by way of example below. The controller 504 in the controller unit 502 supplies the space vector V6 for controlling the motor to the encoder 505, the first input unit 601 in the encoder 505 receives the space vector V6 for controlling the motor, and the space vector registered by the first shift register unit 602 is Vnull1. The reading unit 604 in the encoding unit 607 reads the space vector of the control motor received by the first input unit 601 and the space vector of the control motor registered in the first displacement registering unit 602, and it can be known that the change path of the space vector of the control motor is: vnull1 > V6. The searching unit 605 searches the content stored in the first storage unit 603 according to the reading result of the reading unit 604, and searches Vnull- > V6 corresponding to the code as 01 according to the searching result. The first output unit 606 outputs a status encoded signal 01 signal through two signal lines. The first shift registering unit 602 updates the registered spatial phasor of the control motor to V6, and the first input unit 601 is ready to receive a new spatial vector.

Next, the controller 504 in the controller unit 502 supplies the space vector V5 for controlling the motor to the encoder 505, the first input unit 601 in the encoder 505 receives the space vector V5 for controlling the motor, and the space vector registered by the first shift register unit 602 is V6. The reading unit 604 in the encoding unit 607 reads the space vector of the control motor received by the first input unit 601 and the space vector of the control motor registered in the first displacement registering unit 602, and it can be known that the change path of the space vector of the control motor is: v6- > V5. The searching unit 605 searches the content stored in the first storage unit 603 according to the reading result of the reading unit 604, and searches the corresponding code of V6- > V5 to be 10 according to the searching result. The first output unit 606 outputs the state encoded signal 10 signal through two signal lines. The first shift registering unit 602 updates the registered spatial phasor of the control motor to V5, and the first input unit 601 is ready to receive a new spatial vector. And continues to be encoded into the corresponding state encoded signal in the above manner and output by the first output unit 606.

The following illustrates a decoding process corresponding to the above-described encoding process. The second input unit 701 of the decoder 506 receives the two-bit state encoded signal output from the encoder 505 through the two signal lines connected. After the reset signal is used for resetting, the displacement register unit of the second register unit is preset to Vnull.

After the decoder 506 is reset, it will operate in a predetermined mode, i.e. the decoder 506 in the power device unit 503 starts from the space vector Vnull. The second input unit 701 receives the state encoded signal output by the encoder 505 as 01. The decoding unit recognizes that the space vector of the control motor stored in the second shift register unit 705 is Vnull1, the state code signal inputted by the second input unit 701 is 01, the state code and the initial state of the space vector change of the control motor are known, the path of the corresponding 01 code signal from the space vector Vnull of the control motor is searched in the second storage unit 702 to be changed into a space vector V6, and the decoder 506 decodes the state code signal 01 into the space vector V6 of the control motor. The second output unit 704 outputs a space vector V6 for controlling the motor according to the decoding result of the decoding unit. The second shift registering unit 705 updates the registered spatial phasor of the control motor to V6.

The second input unit 701 receives the state encoded signal output by the encoder 505 as 10. The decoding unit recognizes that the spatial vector of the control motor stored in the second shift register unit 705 is V6, the state code signal inputted by the second input unit 701 is 10, the state code and the initial state of the spatial vector change of the control motor are known, the path of the corresponding 10 code signal from the spatial vector V6 of the control motor is changed to the spatial vector V5 in the second storage unit 702, and the decoder 506 decodes the state code signal 01 to the spatial vector V5 of the control motor. The second output unit 704 outputs a space vector V5 for controlling the motor according to the decoding result of the decoding unit. The second shift registering unit 705 updates the registered spatial phasor of the control motor to V5. And continues to be encoded into the corresponding state encoded signal in the above manner and output by the second output unit 704.

It should be noted that, in the motor control device of the present invention, signals are transmitted between the controller unit and the power device unit through two lines, the encoding and decoding methods are not limited to the above examples. In the above-described encoding and decoding scheme, the encoder 505 in the controller unit 502 and the decoder 506 in the power device unit 503 may be connected to each other via a single signal line.

The motor control device also comprises a controller unit and a power device unit, wherein the signal is transmitted by one line, and other units of the device except the signal is transmitted by one line can be the same as the units in the two-line device.

As an example, the controller unit is connected to the power device unit by a signal line. The signal state signal transmitted by one signal line has high-speed transmission function.

Taking fig. 4 as an example, the sequence of spatial vector changes that the setting system Vnull selects Vnull1 and specifies to control the clockwise rotation of the motor is:

Vnull1 < V6 > V5 > Vnull < V4 > V3 > Vnull < V2 > V1 > Vnull < … > and so forth. The spatial vector change order is implemented in the encoder first storage unit 603 as follows: bit 1: vnull1; bit 2: v6; bit 3: v5; bit 4: vnull1; bit 5: v4; bit 6: v3; bit 7: vnull1; bit 8: v2; bit 9: v1.

The space vector of the control motor provided by the controller 504 is set to Vnull1- > V6- > V5- > Vnull- > V6- > V1- > Vnull- > V2- > V3. After being reset by the reset signal, the shift register unit is set to Vnull to be bit 1 in the first storage unit 603. After the reset, the preset mode is set, the initial states of the controller unit 502, the power device unit 503, and the motor are Vnull1, and the next state of the device is defined as V6.

The specific encoding process is described below by way of example. A controller 504 within the controller unit 502 provides a spatial vector V6 to the encoder 505 that controls the motor. Starting from Vnull a1, the first input unit 601 receives a spatial vector V6 that controls the motor. The reading unit 604 in the encoding unit 607 reads the space vector V6 of the control motor received by the first input unit 601 and the bit 1 in the corresponding first storage unit 603 of the first shift register unit 602, and the searching unit 605 searches the space vector V6 of the control motor in the first storage unit 603 according to the reading result of the reading unit 604, and finds that V6 is exactly the space vector Vnull1 (bit number is bit 1) in sequence and the next space vector (bit number is bit 2), so a pulse is generated to the first output unit 606 according to the search result. The first output unit 606 outputs a pulse signal of the status signal through a signal line. The first shift register unit 602 updates to the space vector V6 (bit number of bit 2), and the first input unit 601 is ready to receive a new space vector.

A controller 504 within the controller unit 502 provides a spatial vector V5 to the encoder 505 that controls the motor. Starting from V6, the first input unit 601 receives a spatial vector V5 controlling the motor. The reading unit 604 in the encoding unit 607 reads the space vector V5 of the control motor received by the first input unit 601 and the bit 2 in the corresponding first storage unit 603 of the V6 of the first shift register unit 602, and the searching unit 605 searches the space vector V5 of the control motor in the first storage unit 603 according to the reading result of the reading unit 604, and finds that V5 is exactly the space vector V6 (bit number is bit 2) next space vector (bit number is bit 3) in sequence, so a pulse is generated to the first output unit 606 according to the search result. The first output unit 606 outputs a pulse signal of the status signal through a signal line. The first shift register unit 602 updates to the space vector V5 (bit number of bit 3), and the first input unit 601 is ready to receive a new space vector.

The controller 504 within the controller unit 502 provides the encoder 505 with a spatial vector Vnull1 that controls the motor. Starting from V5, the first input unit 601 receives a spatial vector Vnull1 that controls the motor. The reading unit 604 in the encoding unit 607 reads the space vector Vnull of the control motor received by the first input unit 601 and the bit 3 in the corresponding first storage unit 603 of the V5 of the first shift register unit 602, and the searching unit 605 searches the space vector Vnull1 of the control motor in the first storage unit 603 according to the reading result of the reading unit 604, and finds Vnull that the space vector V5 (bit number is bit 3) is the next space vector (bit number is bit 4) in sequence, so a pulse is generated to the first output unit 606 according to the search result. The first output unit 606 outputs a pulse signal of the status signal through a signal line. The first shift register unit 602 updates the space vector Vnull (bit number 4) and the first input unit 601 is ready to receive a new space vector.

The controller 504 in the controller unit 502 then provides the encoder 505 with a spatial vector V6 that controls the motor. Starting from Vnull1, the first input unit 601 receives the spatial vector V6. The reading unit 604 in the encoding unit 607 reads the spatial vector V6 of the control motor received by the first input unit 601 and Vnull1 (the position in the corresponding first storage unit 603 is bit 4) of the first shift register unit 602, and the searching unit 605 searches the spatial vector V6 of the control motor in the first storage unit 603 according to the reading result of the reading unit 604, and finds that the next spatial vector in order is V4, which is not the received spatial vector V6. In this case, a high-speed pulse is generated to the first output unit 606 and the first shift register unit 602 is updated to V4 (bit number is bit 5), and the corresponding vector is sequentially searched for. The next space vector in sequence is V3 (bit number 6), which vector value is not equal to the accepted space vector V6. Again, a high-speed pulse is generated to the first output unit 606 and updates the first shift register unit 602 to V3 (bit number 6), and continues to search for the corresponding vector in sequence. The next space vector in sequence is Vnull (bit number 7), which vector value is not equal to the received space vector V6. Again, a high-speed pulse is generated to the first output unit 606 and updates the first shift register unit 602 to Vnull (bit number 7), and continues to search for the corresponding vector in sequence. Until the same space vector V6 is found and the number of bits is the same, a high-speed pulse is generated to the first output unit 606. At this time, the encoding unit 607 generates a total of 7 status signals of high-speed pulses to the first output unit 606. The first shift register unit 602 is updated to V6 (bit number 2), the search is ended and the first input unit 601 is ready to receive a new space vector. When the last bit, bit 9, is found in order and the received spatial vector is not found, the search is resumed from the beginning bit 1. And continues to be encoded into the corresponding status signal in the above manner and output by the first output unit 606. The waveform of the status signal output by the encoder 505 is shown in fig. 8. These high-speed pulses have no effect on the motor drive as long as the speed is fast enough, e.g. the pulse width is in the order of a few ns, since the switching speed of the switching tube is hundreds of times slower. But at a speed sufficient to allow logic circuits such as encoder 505 and decoder 506 to operate stably.

A decoding process corresponding specifically to the above-described encoding process will be described below with examples. The second input unit 701 of the decoder 506 receives the state encoded signal output from the encoder 505 via a signal line connected thereto. After being reset by the reset signal, the second shift register unit 705 is set to Vnull. The second storage unit 702 stores the same content as the first storage unit 603, that is, the space vector and its number of bits.

After the decoder 506 is reset, it will operate in a predetermined mode, i.e. the decoder 506 in the power device unit 503 starts from the space vector Vnull. Each time the second input unit 701 receives a pulse output from the encoder 505 via a signal line, the value of the second shift register unit 705 is shifted one bit backward in the order of the position of the second storage unit 702, and updated to bit 2: v6. The decoder 506 decodes the received state signal into a space vector V6 and outputs it from the second output unit 704.

As the second input unit 701 receives the pulses of the output signal of the encoder 505, the second shift register unit 705 shifts backward according to the position order stored in the second storage unit 702, thereby generating a corresponding spatial vector order and outputting it by the second output unit 704. The pulse frequency of the status signal is given by the encoder 505. In the case of the high-frequency pulse, although a space vector is actually generated and outputted, since the high-frequency pulse has a width of only several ns, there is no influence on the motor drive of the subsequent stage, and only the low-frequency space vector has an influence on the motor drive. Thereby realizing single-wire communication.

As an example, the encoder 505 in the controller unit 502 and the decoder 506 in the power device unit 503 connected by one signal line are compiled in various ways, and are not limited to the above. It can also be:

Vnull1 > V6 > V5 > Vnull > V6 > V1 > Vnull > V2 > V3. The specific information of the preset space vector and the corresponding pulse number stored in the first storage unit 603 is as follows: v1: 1. v2: 2. v3: 3. v4: 4. v5: 5. v6:6 and V null1:7. the second storage unit 702 stores the same preset space vector and the corresponding pulse number as those in the first storage unit 603, and the output pulse is a high frequency pulse.

The encoding process is illustrated by way of example below. The controller 504 in the controller unit 502 supplies the space vector V6 of the control motor to the encoder 505, the first input unit 601 in the encoder 505 receives the space vector V6 of the control motor, the reading unit 604 reads the space vector V6 of the control motor, the search unit 605 searches the space vector V6 of the control motor in the first storage unit 603 and finds that the number of pulses corresponding to the space vector V6 of the control motor is 6. The first output unit 606 outputs six pulse signals. As the first input unit 601 receives the spatial vector of the control motor, the reading unit 604 reads and the search unit 605 searches for the pulse number corresponding to the spatial vector, and outputs it from the first output unit 606.

The following illustrates a decoding process corresponding to the above-described encoding process by way of example. After the decoder 506 is reset, the second input unit 701 receives six pulse signals, the decoding unit 703 identifies the six pulse signals, and searches the second storage unit 702 to find that the spatial vector of the control motor corresponding to the six pulse signals is V6. The second output unit 704 outputs the space vector of the control motor as V6. And continues to decode into spatial vectors corresponding to the control motors in the above manner and output by the second output unit 704.

The motor control device of the invention connects the controller with the encoder through six wires, and makes the controller and the encoder, namely the controller unit, into a controller chip. The decoder is connected with the power device through six wires, and the decoder and the power device, namely the power device unit, are made into a power device chip. The signal is converted by the encoder and the decoder, so that the wiring of the controller unit and the power device unit is reduced, the design difficulty of system-level packaging is reduced, and the production cost is reduced.

Having described the motor control apparatus of an exemplary embodiment of the present invention, the present invention provides an exemplary implementation of the method. The motor control method provided by the invention can be applied to any motor control device provided by the embodiment corresponding to fig. 5. As shown in fig. 5, the motor control device 501 includes: a controller unit 502 and a power device unit 503.

A controller unit 502 for controlling the motor. The controller unit 502 includes: a controller 504 and an encoder 505. A power device unit 503 for driving the motor. The power device unit 503 includes: decoder 506 and power device 507.

Referring to fig. 9, the motor control method includes at least:

s901, providing a space vector for controlling a motor;

S902, encoding a space vector for the control motor;

s903, decoding the coded signals into space vectors for controlling the motor;

And S904, receiving the decoded space vector to control the voltage applied to each winding of the motor.

Step S901 may be performed by the controller 504, generating a spatial vector for controlling the motor, and providing the spatial vector to the encoder 505, and step S902 is performed by the encoder 505 to encode the spatial vector for controlling the motor into a state transition signal and a rotational direction switching signal.

The encoding step is, by way of example, the compilation, conversion of signals or data into a signal form that can be used for communication, transmission and storage. Each binary code, when encoded, is given a particular meaning, i.e., it represents a certain signal or object. The encoding step S902 of the present invention encodes the spatial vector of the control motor into a signal form for transmission and storage. The embodiment of the invention is not limited to the type and the mode of encoding.

A decoding step S903, performed by the decoder 506, of decoding the state transition signal and the rotation direction switching signal into space vectors for controlling the motor;

As an example, decoding can be divided into: variable decoding and display decoding. Decoding is the inverse of encoding, and the process of "translating" out the specific meaning of a code state is called decoding. Alternatively, the decoding may translate the state of the input binary code into an output signal to represent its original meaning. The decoding according to the invention decodes the signal transmitted in the encoding step into a spatial vector for controlling the motor. This corresponds to restoring the spatial vector to the state before the initial encoding. The embodiment of the invention is not limited to the type and the mode of decoding.

The decoded restored space vector is transmitted to the power device 507, which is respectively connected to the respective windings of the motor to control the voltages applied to the respective windings of the motor at step S904.

As shown in fig. 10, step S902 in the motor control method according to the embodiment of the present invention further includes the steps of:

step S1001, receiving an input of a space vector of the control motor;

step S1002, registering the space vector of the control motor;

Step S1003, storing preset space vector change and corresponding coding information;

Step S1004, searching according to the received space vector of the control motor and the registered space vector of the control motor so as to generate codes;

step S1005 generates an output signal based on the encoding.

Wherein, step S1004 further includes:

Searching according to the reading result and the stored content, and generating codes according to the searching result. (not shown in FIG. 10)

As an example, in the case where the transmission signal is two wires, a state transition signal for controlling a spatial vector change of the motor and a rotation direction switching signal for controlling a rotation direction change may be output based on the search determination result. And the method can also be used for outputting corresponding state codes of the space vector change condition of the control motor. As an example, the motor control device 501 is connected to the motor 508 through six switches in the power device, and the space vector of the control motor includes at least eight states. For example, table three: voltage state, V1 (100), V2 (110), V3 (010), V4 (011), V5 (001), V6 (101), and no voltage state, vnull0 (000), vnull1 (111). When an application scene with a non-pressure state Vnull1 is manually specified, the change sequence of the specified space vectors is as shown in fig. 4, and the change sequence of the space vectors for controlling the clockwise rotation of the motor is as follows:

Vnull.sup.1- > V.sup.6- > V.sup.1- > Vnull- > V.sup.2- > V.sup.3- > Vnull- > V.sup.4- > V.sup.5- > Vnull.sup.1 …, and so on. The order of the spatial vectors may be predetermined, and other orders may be used without limiting the order exemplified in the present specification; and the sequence of the above-described control motor space vector changes is stored in the encoder.

First, the controller unit 502 and the power device unit 503 are connected to respective reset signal terminals, respectively, and reset by a reset signal. After reset, the controller unit 502 and the power device unit 503 operate in a predetermined mode. The preset pattern is set manually.

In the above example, if the agreed pattern is that the controller 504 in the controller unit 502 and the decoder 506 in the power device unit 503 start from the space vector Vnull, the space vector of the control motor stored in the encoder 505 and the decoder 506 is moved clockwise, and the state of the space vector of the next control motor is defined as V6.

The controller 504 in the controller unit 502 sequentially supplies the space vectors for controlling the motor to the encoder 505, and the encoder 505 receives the space vectors for controlling the motor supplied from the continuous plurality of controllers 504.

A plurality of received spatial vectors are successively registered in the encoder 505. The register rule of the register unit can be to register the space vectors of a plurality of continuous control motors in a first-in first-out order according to serial input, and the number of bits of the register and the rule are manually settable.

The registered space vectors of the control motors are then sequentially read. When the registered space vector of the control motor is read out to move by one bit, a search is made in the encoder 505. The reading mode and the number of bits are manually settable.

And searching the space vector of the read control motor in the stored sequence of the change of the space vector of the clockwise rotation and the anticlockwise rotation of the control motor, and judging whether the space vector of the control motor changes the rotation direction or not.

The first registered space vector is V6, and the space vector V5 of the control motor is received. At this time, the sequence of change of the space vector Vnull of the state after the reset of the read encoder 505, the registered space vector V6 of the control motor, and the received space vector V5 of the control motor is Vnull- > V6- > V5. And searching in a stored preset sequence according to the reading sequence, and finding that the sequence exists in a space vector change sequence for controlling the motor to rotate clockwise. Therefore, when the rotation direction of the space vector at this time is the same as the rotation direction set in advance, it is explained that the space vector of the control motor does not change the rotation direction, the state transition signal into which the space vector V6 of the control motor is encoded is output as one pulse, and the rotation direction switching signal does not output a pulse. The register is updated to V5.

A space vector Vnull of the control motor is received. At this time, the change sequence of the registered space vector V6 of the control motor before update, the registered space vector V5 of the control motor and the received space vector Vnull1 of the control motor is V6- > V5- > Vnull. And searching in a stored preset sequence according to the reading sequence, and finding that the sequence exists in a space vector change sequence for controlling the motor to rotate clockwise. Therefore, when the rotation direction of the space vector at this time is the same as the rotation direction set in advance, it is explained that the space vector of the control motor does not change the rotation direction, the state transition signal into which the space vector V5 of the control motor is encoded is output as one pulse, and the rotation direction switching signal does not output a pulse. The register update is Vnull1.

A space vector V6 is received that controls the motor. At this time, the change sequence of the registered space vector V5 of the control motor before update, the registered space vector Vnull of the control motor and the received space vector V6 of the control motor is V5- > Vnull- > V6. And searching in a stored preset sequence according to the reading sequence, and finding that the sequence exists in a space vector change sequence for controlling the motor to rotate anticlockwise. Therefore, when the rotation direction of the space vector at this time is different from the preset rotation direction, it is explained that the space vector of the control motor is changed, the state transition signal encoded by the space vector Vnull of the first output control motor outputs one pulse, and the rotation direction switching signal outputs one pulse. The register is updated to V6.

A space vector V1 is received that controls the motor. At this time, the sequence of change of the registered control motor space vector Vnull1, the registered control motor space vector V6 and the received control motor space vector V1 is Vnull- > V6- > V1. And searching in a stored preset sequence according to the reading sequence, and finding that the sequence exists in a space vector change sequence for controlling the motor to rotate anticlockwise. Therefore, when the rotation direction of the space vector at this time is the same as the rotation direction set in advance, it is explained that the space vector of the control motor does not change the rotation direction, the state transition signal into which the space vector V6 of the control motor is encoded is output as one pulse, and the rotation direction switching signal does not output a pulse. The register is updated to V1. And continue encoding into corresponding state transition signals and rotation direction switching signals and outputting in the above manner.

As shown in fig. 11, step S903 in the motor control method according to the embodiment of the present invention further includes the steps of:

step S111, receiving the input of the coding signal;

step S112, registering the space vector of the control motor;

step S113, storing decoding information corresponding to the preset space vector change;

Step S114, decoding is generated according to the identified coded signals, the registered space vectors and the searching result in the stored decoding information;

and step S115, outputting the space vector of the control motor according to the decoding result.

As an example, the decoder 506 receives the state transition signal and the rotation direction switching signal output from the encoder 505. The decoder 506 stores the same preset sequence of spatial vector changes that control the clockwise and counterclockwise rotation of the motor. And identifying states of the state transition signal and the rotation direction switching signal. And finally, searching the space vector of the next control motor in the stored sequence of the space vector changes of the clockwise rotation and the anticlockwise rotation of the preset control motor according to the identification result, and outputting the space vector. The output space vector that controls the motor 508 by controlling the closed state of the switches in the power device 507.

The decoder 506, for each pulse of the state transition signal, transitions the space vector of the control motor to the next state in a predetermined or past sequence, where the state transition occurs at either the rising or falling edge of the state transition signal. The decoder 506 switches the sequence of changes in the spatial vector of the control motor between the sequence of changes in the spatial vector of the clockwise and counterclockwise rotations of the motor once per pulse of the received rotational direction signal. When the sequence of the change of the motion of the space vector of the motor is controlled in the decoder 506, the sequence of the change of the space vector of the clockwise rotation and the anticlockwise rotation of the motor is switched, the decoder outputs the space vector of the next state after the pulse of the state transition signal is received.

In the following description of the decoding process of the decoder, after the decoder 506 is reset, the decoder 506 will operate in a preset mode, that is, the decoder 506 in the power device unit 503 starts from the space vector Vnull1, moves clockwise according to the space vector of the control motor stored in the decoder 506, and specifies the state of the space vector of the next control motor to be V6. And setting the space vector movement and the change of the rotation direction of the trigger control motor when the rising edges of the state transition signal and the rotation direction switching signal pulse are recognized. The decoder 506 receives the state transition signal and the rotation direction switching signal converted by the first V6 output from the encoder 505, and recognizes that the state transition signal at this time has a rising edge of a pulse and the rotation direction switching signal does not have a pulse. According to a preset mode, the clockwise sequence position of the space vector of the control motor in storage is as follows:

Vnull1 < V6 > V5 > Vnull < V4 > V3 > Vnull < V2 > V1 > Vnull. The space vector V6 of the next control motor corresponding to the space vector Vnull1 of the output control motor is fed into the power device 507. The power device 507 receives the decoded space vector, and controls the voltages applied to the windings of the motor 508 through a switch, thereby achieving the state of controlling the motor 508.

The decoder 506 receives the state transition signal converted by V5 and the rotation direction switching signal output from the encoder 505, and recognizes that the state transition signal has a rising edge of a pulse and the rotation direction switching signal does not have a pulse at this time. According to a preset mode, the clockwise sequence position of the space vector of the control motor in storage is as follows:

Vnull1 < V6 > V5 > Vnull < V4 > V3 > Vnull < V2 > V1 > Vnull. The space vector V5 of the next control motor corresponding to the space vector V6 of the output control motor is fed into the power device 507.

The decoder 506 receives the state transition signal and the rotation direction switching signal outputted from the encoder 505 and converted by the second Vnull, and recognizes that the rotation direction switching signal has a rising edge of a pulse, and switches to a sequence of the stored counterclockwise spatial vector change order:

Vnull1- > V6- > V1- > Vnull- > V2- > V3- > Vnull- > V4- > V5- > Vnull1 …, and identifies the spatial vector V5 output by the second output unit 704, and finds V5 in the sequence of the counterclockwise spatial vector change order. Then, the decoding unit 703 recognizes the rising edge of the state transition signal, at this time, the space vector of the control motor is switched to the next state space vector Vnull1, and outputs the space vector Vnull.

The decoder 506 receives the state transition signal converted by V6 and the rotation direction switching signal output from the encoder 505, and recognizes that the state transition signal has a rising edge of a pulse and the rotation direction switching signal does not have a pulse at this time. According to the result identified by the decoding unit 703 that the spatial vector does not need to switch the rotation direction and moves one bit, it can be known that the spatial vector of the control motor at this time follows the counterclockwise sequence after the conventional switching:

Vnull1- > V6- > V1- > Vnull- > V2- > V3- > Vnull- > V4- > V5- > Vnull.sup.1- > … to the space vector of the next state. The second output unit 704 searches for and outputs the corresponding spatial vector V6 of the control motor in the second storage unit 702 to the power device 507. And continues to output the space vector of the control motor to the power device 507 in the above decoding manner.

Vnull1 > V6 > V5> Vnull > V6 > V1 > Vnull > V2 > V3. The coding information corresponding to the preset spatial vector change stored in the encoder 505 is the walkable path of the spatial vector and the corresponding state code. As can be seen in fig. 4, the order of the further space vectors is changed from any one space vector to the next space vector according to the direction indicated by the arrow, and there are at most three alternative paths from each space vector to the next space vector, so that the paths selected from each space vector can be represented by a binary number of one bit, for example, it is possible to define: from Vnull1, three paths V6, V2 and V4 can be selected, each path having a code Vnull- > V6: 01. vnull1- > V2: 10. vnull1- > V4:11; from V6, two paths V5 and V1 can be selected, each path being coded as V6- > V5: 10. v6- > V1:11; from V2, two paths V3 and V1 can be selected, each path being coded as V2- > V3: 11. v2- > V1:01; from V4, two paths V5 and V3 can be selected, each path being coded as V4- > V5: 11. v4- > V3:01; from V3, one path Vnull can be selected, which is coded as V3- > Vnull1:00; from V1, vnull can be selected 1 as a path, which has the code V1- > Vnull1:00; from V5, one path Vnull can be selected, which has the code V5> Vnull1:00. the coding of each path may be defined by man and it is guaranteed that the adjacent two codes output consecutively at the encoder are different. Therefore, in the encoding process, if the current space vector and the next space vector are known, the corresponding two-bit binary code can be found from the preset codes and transmitted to the decoder 506; in the decoding process, if the current space vector is known and the code of the possible next path from the current space vector is read, the next space vector can be obtained. The travelable path is independent of the direction of rotation of the motor. The decoder 506 stores decoding information corresponding to the same predetermined spatial vector change stored in the encoder 505. In addition, the above-mentioned coding and decoding scheme may be implemented by an encoder 505 in the controller unit 502 and a decoder 506 in the power device unit 503 which are connected by a single signal line

After being reset by the reset signal, the spatial vector registered by the encoder 505 is set to be Vnull. After the preset mode is reset, the initial states of the controller unit 502, the power device unit 503, and the motor are Vnull1.

The encoding process is illustrated by way of example below. The controller 504 within the controller unit 502 provides the spatial vector V6 for controlling the motor to the encoder 505, the spatial vector V6 for controlling the motor is received by the encoder 505, and the registered spatial vector is Vnull1. Reading the received space vector of the control motor and the registered space vector of the control motor, and knowing that the change path of the space vector of the control motor is as follows: vnull1 > V6. Searching in the stored content according to the reading result, and finding Vnull < 1- > V6 corresponding code to be 01 according to the searching result. The encoder 505 outputs a status encoded signal 01 signal through two signal lines. The registered spatial phasors of the control motors are updated to V6 and are ready to receive new spatial vectors.

Next, the controller 504 in the controller unit 502 supplies the spatial vector V5 for controlling the motor to the encoder 505, the encoder 505 receives the spatial vector V5 for controlling the motor, and the registered spatial vector is V6. Reading the received space vector of the control motor and the registered space vector of the control motor, and knowing that the change path of the space vector of the control motor is as follows: v6- > V5. Searching in the stored content according to the reading result, and finding out that the corresponding code of V6- > V5 is 10 according to the searching result. The encoder 505 outputs the state encoded signal 10 signal through two signal lines. The registered spatial phasors of the control motors are updated to V5 and are ready to receive new spatial vectors. And continues to encode as the corresponding state encoded signal and output in the above manner.

The following illustrates a decoding process corresponding to the above-described encoding process. The decoder 506 receives the two-bit state encoded signal output from the encoder 505 through two signal lines connected. After being reset by the reset signal, the register unit of the decoder 506 is set to Vnull.

After the decoder 506 is reset, it will operate in a predetermined mode, i.e. the decoder 506 in the power device unit 503 starts from the space vector Vnull. The state encoded signal output by the reception encoder 505 is 01. The registered space vector of the control motor is Vnull < 1 >, the input state code signal is 01, the state code and the initial state of the space vector change of the control motor are known, the path of the corresponding 01 code signal from the space vector Vnull < 1 > of the control motor is searched for in the decoder 506 to be changed into a space vector V6, and the decoder 506 decodes the state code signal 01 into the space vector V6 of the control motor. And outputting a space vector V6 for controlling the motor according to the decoding result. And updating the registered spatial phasor of the control motor to be V6.

The state encoded signal output by the reception encoder 505 is 10. The decoding unit recognizes that the registered space vector of the control motor is V6, the input state code signal is 10, the state code and the initial state of the space vector change of the control motor are known, the path of the corresponding 10 code signal from the space vector V6 of the control motor is searched in the content stored in the encoder 505 to be changed into the space vector V5, and the decoder 506 decodes the state code signal 01 into the space vector V5 of the control motor. And outputting a space vector V5 for controlling the motor according to the decoding result. And updating the registered spatial phasor of the control motor to be V5. And continues to encode as the corresponding state encoded signal and output in the above manner.

The motor control device further comprises a signal transmission line between the controller unit 502 and the power device unit 503, and other units of the device except for the signal transmission line can be the same as those of the two-line device.

As an example, the controller unit 502 and the power device unit 503 are connected by a signal line. The signal state signal transmitted by one signal line has high-speed transmission function.

Vnull1 < V6 > V5 > Vnull < V4 > V3 > Vnull < V2 > V1 > Vnull < … > and so forth. These spatial vector change orders are stored in the encoder as follows: bit 1: vnull1; bit 2: v6; bit 3: v5; bit 4: vnull1; bit 5: v4; bit 6: v3; bit 7: vnull1; bit 8: v2; bit 9: v1.

The spatial vector provided by the controller 504 to control the motor is set to: vnull1 > V6 > V5 > Vnull > V6 > V1 > Vnull > V2 > V3. After reset by the reset signal, the register preset in encoder 505 is set to Vnull1 and is bit 1 in encoder 505. After the reset, the preset mode is set, the initial states of the controller unit 502, the power device unit 503, and the motor are Vnull1, and the next state of the device is defined as V6.

The specific encoding process is described below by way of example. A controller 504 within the controller unit 502 provides a spatial vector V6 to the encoder 505 that controls the motor. Starting from Vnull1, a spatial vector V6 is received which controls the motor. The space vector V6 of the control motor and the registered space vector Vnull of the control motor corresponding to the bit 1 in the stored content are read, and the space vector V6 of the control motor is searched in the stored content according to the read result, and the space vector V6 is found to be exactly the next space vector (bit number is bit 2) of the space vector Vnull1 (bit number is bit 1) in sequence, so that a pulse is generated according to the search result and a pulse signal of the state signal is output through a signal line. The register is updated to the space vector V6 (bit number 2) and a new space vector is ready to be received.

A controller 504 within the controller unit 502 provides a spatial vector V5 to the encoder 505 that controls the motor. Starting from V6, a space vector V5 is received which controls the motor. The space vector V5 of the control motor and the bit 2 in the corresponding storage content of the registered V6 are read, the space vector V5 of the control motor is searched in the storage content according to the read result, and the space vector V5 is found to be the next space vector (bit number is bit 3) of the space vector V6 (bit number is bit 2) in sequence, so that a pulse is generated according to the search result and a pulse signal of the state signal is output through a signal line. The register is updated to the space vector V5 (bit number 3) and a new space vector is ready to be received.

The controller 504 within the controller unit 502 provides the encoder 505 with a spatial vector Vnull1 that controls the motor. Starting from V5, a space vector Vnull is received that controls the motor. The space vector Vnull of the control motor and the bit 3 in the corresponding stored content of the registered V5 are read, and the space vector Vnull of the control motor is searched in the stored content according to the read result, and Vnull is found to be the space vector V5 (bit number is bit 3) next space vector (bit number is bit 4) in sequence, so that a pulse is generated according to the search result and a pulse signal of the state signal is output through a signal line. The register is updated as space vector Vnull (bit number 4) and a new space vector is ready to be received.

The controller 504 in the controller unit 502 then provides the encoder 505 with a spatial vector V6 that controls the motor. Starting from Vnull1, a spatial vector V6 is received. The space vector V6 of the control motor is read and received, and the registered Vnull (the position in the corresponding storage content is bit 4), the space vector V6 of the control motor is searched in the storage content according to the read result, and the space vector V4 which is the next space vector in sequence is found, and the space vector is not the received space vector V6. In this case, a high-speed pulse is generated and registered as V4 (bit number of bit 5) is updated, and the corresponding vector is continued to be searched in order. The next space vector in sequence is V3 (bit number 6), which vector value is not equal to the accepted space vector V6. Again, a high-speed pulse 5 is generated and registered as V3 (number of bits 6) is updated and the corresponding vectors continue to be looked up in sequence. The next space vector in sequence is Vnull (bit number 7), which vector value is not equal to the received space vector V6. Again, a high-speed pulse is generated and registered Vnull a (bit number 7) is updated and the corresponding vector is continually looked up in sequence. Until the same space vector V6 is found and the number of bits is the same, a high-speed pulse is generated. At this time, a total of 7 high-speed pulse state signals are generated and outputted. The update registers as V6 (bit number 2), ending the lookup and ready to receive a new space vector. When the last bit, bit 9, is found in order and the received spatial vector is not found, the search is resumed from the beginning bit 1. And continues to encode and output as the corresponding status signal in the above manner. The waveform of the status signal output by the encoder 505 is shown in fig. 8. These high-speed pulses have no effect on the motor drive as long as the speed is fast enough, e.g. the pulse width is in the order of a few ns, since the switching speed of the switching tube is hundreds of times slower. But this speed is sufficient to allow logic circuits such as encoders and decoders to operate stably.

A decoding process corresponding specifically to the above-described encoding process will be described below with examples. The decoder 506 receives the state encoded signal output from the encoder 505 via a signal line connected thereto. After being reset by the reset signal, decoder 506 registers the preset value as Vnull1. The content stored in the decoder 506 is the same as the content of the encoder 505, i.e., the space vector and its number of bits.

After the decoder 506 is reset, it will operate in a predetermined mode, i.e. the decoder 506 in the power device unit 503 starts from the space vector Vnull. Each time a pulse output from the encoder 505 is received via a signal line, the registered space vector and position of the control motor are shifted one bit backward in the stored position order, updated to bit 2: v6. The decoder 506 decodes the received state signal into a space vector V6 and outputs the space vector.

As pulses of the signal output from the encoder 505 are received, the registered contents are shifted backward in accordance with the order of the positions stored in the stored contents, thereby generating a corresponding spatial vector order and outputting the same. The pulse frequency of the status signal is given by the encoder 505. In the case of the high-frequency pulse, although a space vector is actually generated and outputted, since the high-frequency pulse has a width of only several ns, there is no influence on the motor drive of the subsequent stage, and only the low-frequency space vector has an influence on the motor drive. Thereby realizing single-wire communication.

Taking fig. 4as an example, the setting system Vnull selects Vnull1, and the spatial vector of the control motor provided by the controller 504 is Vnull- > V6- > V5- > Vnull- > V6- > V1- > Vnull- > V2- > V3. The details of the preset space vector and the corresponding pulse number stored in the encoder 505 are as follows: v1: 1. v2: 2. v3: 3. v4: 4. v5: 5. v6:6 and V null1:7. the decoder 506 stores the same predetermined space vector and the corresponding number of pulses as in the encoder 505, and outputs the high frequency pulses as the pulses.

The encoding process is illustrated by way of example below. The controller 504 in the controller unit 502 supplies the space vector V6 of the control motor to the encoder 505, receives the space vector V6 of the control motor in the encoder 505, reads the space vector V6 of the control motor, searches the space vector V6 of the control motor in the first storage unit 603, finds that the number of pulses corresponding to the space vector V6 of the control motor is 6, and outputs six pulse signals. Along with receiving the space vector of the control motor, reading and searching, searching the pulse number corresponding to the space vector and outputting the pulse number.

The following illustrates a decoding process corresponding to the above-described encoding process by way of example. After the decoder 506 is reset, six pulse signals are received, the six pulse signals are identified, and the space vector of the control motor corresponding to the six pulse signals is found to be V6 by searching in the content stored by the decoder 506. The spatial vector of the output control motor is V6. And continue to decode into the space vector of the corresponding control motor and output according to the above way.

It should be noted that although in the above detailed description several units/modules or sub-units/modules of the motor control device are mentioned, such a division is only exemplary and not mandatory. Indeed, the features and functionality of two or more units/modules described above may be embodied in one unit/module in accordance with embodiments of the present invention. Conversely, the features and functions of one unit/module described above may be further divided into ones that are embodied by a plurality of units/modules.

Furthermore, although the operations of the methods of the present invention are depicted in the drawings in a particular order, this is not required or suggested that these operations must be performed in this particular order or that all of the illustrated operations must be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.

While the spirit and principles of the present invention have been described with reference to several particular embodiments, it is to be understood that the invention is not limited to the disclosed embodiments nor does it imply that features of the various aspects are not useful in combination, nor are they useful in any combination, such as for convenience of description. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A motor control apparatus comprising:

a controller unit for controlling a motor, comprising:

a controller for providing a space vector for controlling the motor;

An encoder for encoding a space vector for controlling the motor;

the encoder includes:

A first input unit for receiving an input of a space vector for controlling the motor;

The first displacement registering unit registers a space vector of the control motor;

The coding unit is used for searching in the first storage unit according to the space vector of the control motor received by the first input unit and the space vector of the control motor registered in the first displacement registering unit so as to generate codes;

a first output unit for generating an output signal based on the encoding of the encoding unit;

a power device unit for driving a motor, comprising:

a power device connected to each winding of the motor and connected to the decoder, receiving the decoded space vector to control voltages applied to each winding of the motor;

The decoder includes:

a second shift registering unit for registering a space vector of the control motor;

The decoding unit generates decoding according to the identified coded signals of the second input unit, the space vector of the second displacement registering unit and the searching result in the second storage unit;

The second output unit is used for outputting a space vector for controlling the motor according to the decoding result of the decoding unit;

at least one signal wire is connected between the controller unit and the power device unit and used for transmitting signals of the encoder after the space vector of the control motor is encoded;

the controller unit is connected with the power device unit through two signal wires and is used for respectively transmitting a state transition signal and a rotation direction switching signal;

the motor control device is connected with three windings of the three-phase motor through six switches in the power device, and the space vector of the control motor at least comprises 8 states:

voltage state, V1 (100), V2 (110), V3 (010), V4 (011), V5 (001), V6 (101);

An unpressurized state, vnull0 (000), vnull1 (111);

When the pressureless state is Vnull (111), the sequence of the spatial vector changes for controlling the motor to rotate clockwise and counterclockwise can be:

When the pressureless state is Vnull (000), the sequence of the spatial vector changes for controlling the clockwise rotation and the counterclockwise rotation of the motor can be:

2. The motor control device according to claim 1, wherein the controller unit and the power device unit are connected to respective reset signal terminals and reset by a reset signal, respectively.

3. The motor control device according to claim 2, wherein the controller unit and the power device unit operate in a predetermined mode when they are reset.

4. The motor control device of claim 1, wherein two signal lines between the controller unit and the power device unit are further operable to transmit status encoded signals.

5. The motor control device according to claim 1, wherein the controller unit and the power device unit are connected by a signal line for transmitting the status signal.

6. The motor control device according to claim 1, wherein the encoding unit further includes:

7. The motor control device according to claim 1, wherein the first shift registering unit and the second shift registering unit register the space vectors of the plurality of control motors sequentially input in a serial input, first-in first-out order.

8. The motor control device according to any one of claim 7, wherein the preset sequence of spatial vector changes for controlling clockwise rotation and counterclockwise rotation of the motor stored in the first storage unit, respectively;

9. The motor control device of claim 8 wherein the state transition signal is a pulse signal, the state transition signal generating a pulse every time the first input unit in the encoder receives a spatial vector for controlling the motor;

The second input unit in the decoder receives a pulse of the state transition signal, and the space vector of the control motor is transferred to the next state according to the preset or following previous sequence, wherein the state transition occurs at the rising edge or the falling edge of the state transition signal.

10. The motor control device according to claim 9, wherein the rotation direction switching signal is a pulse signal, and the rotation direction switching signal generates a pulse signal every time the in-encoder seek unit determines that there is a change in the rotation direction of the space vector of the control motor;

the sequence of the change in the movement of the spatial vector of the control motor is switched once between the sequence of the change in the spatial vector of the clockwise and counterclockwise rotation of the motor for each pulse of the rotational direction signal received by the second input unit in the decoder.

11. The motor control device according to claim 10, wherein when a movement change order of the space vector controlling the motor in the decoder is switched between an order of the space vector change of the clockwise rotation and the counterclockwise rotation of the motor, the decoder outputs the space vector of the next state after the switching after receiving the pulse of the state transition signal.

12. The motor control device according to claim 1, wherein the preset pattern may be that the controller unit and the power device unit start from Vnull a 1 and the next state moving in a clockwise or counterclockwise order according to the space vector of the control motor is V6, V4 or V2.

13. The motor control device according to claim 12, wherein the predetermined pattern may be that the controller unit and the power device unit start from Vnull, and the next state moving in a clockwise or counterclockwise order according to the space vector of the control motor is V1, V3, or V5.

14. The motor control device according to any one of claims 8-13, wherein a first shift register in the encoder registers a space vector of the continuous multi-bit control motor, and the search unit in the encoding unit performs the search once every time the reading unit in the encoding unit reads one bit of the first shift register.

15. The motor control device according to any one of claims 8-13, wherein the search rule of the search unit within the encoding unit in the encoder includes:

According to the preset sequence of the space vector change of the clockwise rotation and the anticlockwise rotation of the control motor in the first storage unit, judging whether the space vector of the state after the encoder is reset or the space vector of the control motor registered before the first displacement register unit is updated, and the sequence of the change of the space vector of the control motor registered in the first displacement register unit and the space vector of the control motor received by the first input unit exists in the sequence of the space vector change of the clockwise rotation or the anticlockwise rotation of the control motor;

if the space vectors are the same, the condition that the space vectors of the control motor do not change the rotation direction is indicated, and the first output unit does not output pulses in the rotation direction switching signal;

if the spatial vector of the control motor is different, it is described that the rotation direction is changed, and the first output unit outputs one pulse signal indicating the direction switching in the rotation direction switching signal.

16. The motor control device according to any one of claims 1 to 13, wherein the preset spatial vector change and the corresponding code information stored in the first storage unit are walkable paths of spatial vectors and the corresponding status codes;

the second storage unit stores the same preset space vector change and corresponding code information as the movable path of the space vector and corresponding state code as the first storage unit.

17. The motor control device according to claim 16, wherein the encoder generates a state encoded signal in which the output 0 signal is low and the output 1 signal is high;

The second input unit in the decoder decodes the state encoded signal into a space vector for controlling the motor every time the state encoded signal is received.

18. The motor control device according to claim 15, wherein the preset sequence of spatial vector changes for controlling the clockwise rotation or the counterclockwise rotation of the motor stored in the first storage unit, respectively, corresponds to a preset number of bits;

The second storage unit stores the same sequence of the spatial vector change of the clockwise rotation or the anticlockwise rotation of the preset control motor as the first storage unit and the corresponding preset bit number respectively.

19. The motor control device according to claim 18, wherein the status signal is a pulse signal, wherein the search unit searches for one pulse signal output by the encoder at a time;

the second input unit in the decoder moves the space vector of the control motor to the next state every time the second input unit receives a pulse signal.

20. The motor control device according to any one of claims 1 to 13, wherein the preset space vectors for controlling the motor and the corresponding preset pulse numbers stored in the first storage unit, respectively;

The second storage unit respectively stores the same space vector of the preset control motor and the corresponding preset pulse number as those in the first storage unit.

21. The motor control device of claim 20 wherein the status signal is a pulse signal, wherein the encoder outputs a corresponding number of pulses in accordance with a spatial vector of the control motor received by the encoder;

the decoder receives the number of pulse signals each time, and the decoder outputs the corresponding space vector for controlling the motor.

22. The motor control device of claim 19, wherein the search rule of the search unit within the encoding unit in the encoder includes:

If the space vector of the control motor registered by the first displacement register unit is the next bit of the bit number corresponding to the space vector, outputting a pulse;

If the space vector is not the next bit of the bit number corresponding to the space vector of the control motor registered by the first displacement register unit, outputting a high-speed pulse, wherein the first displacement register unit registers and updates the space vector of the next bit control motor stored in the first storage unit, continuing the steps until the space vector of the control motor received by the first input unit is the next bit of the bit number corresponding to the space vector of the control motor registered by the first displacement register unit, outputting a high-speed pulse, and then completing the search.

23. A motor control method for the apparatus of any one of claims 1-22, comprising:

providing a space vector for controlling the motor;

Encoding a space vector for controlling the motor;

decoding the encoded signals into spatial vectors for controlling the motor;

Receiving the decoded space vector to control voltages applied to respective windings of the motor;

at least one signal wire is used for connecting signals after space vector coding for transmitting and controlling the motor;

Two signal wires are connected for respectively transmitting a state transition signal and a rotation direction switching signal;

the space vector for controlling the motor comprises at least 8 states:

voltage state, V1 (100), V2 (110), V3 (010), V4 (011), V5 (001), V6 (101);

An unpressurized state, vnull0 (000), vnull1 (111);

24. The motor control method according to claim 23, wherein the reset operation is performed before the step of providing a space vector for controlling the motor.

25. The motor control method according to claim 24, wherein after the reset operation, it operates in a predetermined mode.

26. The motor control method of claim 23 wherein one or both signal lines may also be used to transmit status encoded signals.

27. The motor control method according to claim 23, wherein one signal line is connected for transmitting the status signal.

28. The motor control method according to claim 23, wherein the step of encoding a space vector for controlling the motor includes:

receiving an input of a space vector for controlling the motor;

Registering a space vector of a control motor;

Storing preset space vector changes and corresponding coding information;

According to the received space vector of the control motor and the registered space vector of the control motor, searching is carried out so as to generate codes;

An output signal is generated based on the encoding.

29. The motor control method of claim 28, wherein the step of searching for and generating the code based on the received space vector of the control motor and the registered space vector of the control motor further comprises:

sequentially reading the received space vectors of the control motors and the registered space vectors of the control motors;

30. The motor control method of claim 29, wherein decoding the encoded signals into spatial vectors for controlling the motor comprises:

Receiving an input of an encoded signal;

Registering a space vector of a control motor;

Storing preset decoding information corresponding to space vector change;

And outputting a space vector for controlling the motor according to the decoding result.

31. The motor control method according to claim 30, wherein the spatial vectors of the plurality of control motors that are sequentially input are registered in a serial-input, first-in first-out order.

32. The motor control method of claim 30, wherein the stored preset sequence of spatial vector changes controlling clockwise rotation and counterclockwise rotation of the motor.

33. The motor control method of claim 32 wherein the state transition signal is a pulse signal, the state transition signal generating a pulse every time a space vector for controlling the motor is received;

34. The motor control method according to claim 33, wherein the rotation direction switching signal is a pulse signal, and generates a pulse signal every time it is determined that there is a change in the rotation direction of the space vector of the control motor;

the sequence of change in the movement of the spatial vector of the control motor is switched once between the sequence of change in the spatial vector of the clockwise and counterclockwise rotation of the motor for each pulse of the received rotational direction signal.

35. The motor control method according to claim 34, wherein when a movement change order of the space vector of the control motor is switched between an order of change of the space vector of the clockwise rotation and the counterclockwise rotation of the motor, the space vector of the next state after the switching is output after the pulse of the state transition signal is received.

36. The motor control method of claim 23, wherein the predetermined pattern is V6, V4 or V2 as a next state moving in a clockwise or counterclockwise order according to a space vector of the control motor starting from Vnull a.

37. The motor control method of claim 36, wherein the predetermined pattern is V1, V3 or V5 as a next state moving in a clockwise or counterclockwise order according to a space vector of the control motor starting from Vnull.

38. The motor control method according to any one of claims 32 to 37, wherein the space vector of the continuous multi-bit control motor is registered, and the search is performed once every time the registered space vector of the control motor is moved by one bit.

39. The motor control method according to any one of claims 32 to 37, wherein the search rule includes:

searching the read space vector of the registered control motor;

According to the stored sequence of the change of the space vector of the clockwise rotation and the anticlockwise rotation of the preset control motor, judging whether the space vector in the state after reset or the space vector of the control motor registered before update, the change sequence of the space vector of the registered control motor and the space vector of the received control motor exists in the sequence of the change of the space vector of the clockwise rotation or the anticlockwise rotation of the control motor;

If the space vectors are the same, the condition that the space vectors of the control motor do not change the rotation direction is indicated, and no pulse is output in the rotation direction switching signal;

If the spatial vector of the control motor is different, a case where the rotation direction is changed will be described, and one pulse signal is output in the rotation direction switching signal to indicate the direction switching.

40. The motor control method according to any one of claims 30-37, wherein the stored preset spatial vector changes and corresponding code information are walkable paths of spatial vectors and corresponding state codes.

41. The motor control method of claim 40 wherein a state encoded signal is generated wherein the output 0 signal is low and the output 1 signal is high;

Each time a state encoded signal is received, the state encoded signal is decoded into a space vector that controls the motor.

42. The motor control method of claim 39 wherein the stored sequence of spatial vector changes that preset controls clockwise or counterclockwise rotation of the motor and corresponds to a pre-specified number of bits.

43. The motor control method of claim 42 wherein the status signal is a pulse signal, wherein the seek outputs one pulse signal at a time;

each time a pulse signal is received, the space vector of the control motor is moved to the next state.

44. The motor control method according to any one of claims 30 to 37, wherein the stored space vector of the preset control motor and the corresponding preset number of pulses.

45. The motor control method of claim 44 wherein the status signal is a pulse signal, wherein a corresponding number of pulses are output in accordance with the received space vector controlling the motor;

and outputting corresponding space vectors for controlling the motor each time the number of pulse signals is received.

46. The motor control method of claim 43 wherein the lookup rule comprises:

Searching in the sequence of storing the change of the space vector of the preset control motor rotating clockwise or anticlockwise and the corresponding preset digit, and judging whether the received space vector of the control motor is the next digit of the digit corresponding to the registered space vector of the control motor or not;

If the space vector is not the next bit of the bit number corresponding to the space vector of the registered control motor, outputting a high-speed pulse, registering and updating the space vector into the stored sequence of the change of the space vector of the clockwise rotation or the anticlockwise rotation of the preset control motor and the space vector of the next control motor corresponding to the preset bit number, continuing the steps until the received space vector of the control motor is the next bit of the change of the space vector of the clockwise rotation or the anticlockwise rotation of the preset control motor and the space vector corresponding to the preset bit number which is the registered control motor, outputting a high-speed pulse and completing the search.